CN110435787A - A kind of trailing type AGV trolley - Google Patents
A kind of trailing type AGV trolley Download PDFInfo
- Publication number
- CN110435787A CN110435787A CN201910769282.4A CN201910769282A CN110435787A CN 110435787 A CN110435787 A CN 110435787A CN 201910769282 A CN201910769282 A CN 201910769282A CN 110435787 A CN110435787 A CN 110435787A
- Authority
- CN
- China
- Prior art keywords
- mounting rack
- fixed
- fixedly installed
- motor
- decoupling rod
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G13/00—Resilient suspensions characterised by arrangement, location or type of vibration dampers
- B60G13/001—Arrangements for attachment of dampers
- B60G13/003—Arrangements for attachment of dampers characterised by the mounting on the vehicle body or chassis of the damper unit
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R19/00—Wheel guards; Radiator guards, e.g. grilles; Obstruction removers; Fittings damping bouncing force in collisions
- B60R19/02—Bumpers, i.e. impact receiving or absorbing members for protecting vehicles or fending off blows from other vehicles or objects
- B60R19/18—Bumpers, i.e. impact receiving or absorbing members for protecting vehicles or fending off blows from other vehicles or objects characterised by the cross-section; Means within the bumper to absorb impact
- B60R19/20—Bumpers, i.e. impact receiving or absorbing members for protecting vehicles or fending off blows from other vehicles or objects characterised by the cross-section; Means within the bumper to absorb impact containing mainly gas or liquid, e.g. inflatable
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R19/00—Wheel guards; Radiator guards, e.g. grilles; Obstruction removers; Fittings damping bouncing force in collisions
- B60R19/02—Bumpers, i.e. impact receiving or absorbing members for protecting vehicles or fending off blows from other vehicles or objects
- B60R19/42—Bumpers, i.e. impact receiving or absorbing members for protecting vehicles or fending off blows from other vehicles or objects extending primarily along the sides of, or completely encircling, a vehicle
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D63/00—Motor vehicles or trailers not otherwise provided for
- B62D63/02—Motor vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D63/00—Motor vehicles or trailers not otherwise provided for
- B62D63/02—Motor vehicles
- B62D63/04—Component parts or accessories
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2800/00—Indexing codes relating to the type of movement or to the condition of the vehicle and to the end result to be achieved by the control action
- B60G2800/16—Running
- B60G2800/162—Reducing road induced vibrations
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2200/00—Type of vehicles
- B60L2200/40—Working vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2220/00—Electrical machine types; Structures or applications thereof
- B60L2220/40—Electrical machine applications
- B60L2220/42—Electrical machine applications with use of more than one motor
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Transportation (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Power Engineering (AREA)
- Handcart (AREA)
Abstract
The present invention relates to intelligence to carry technical field, more particularly to a kind of trailing type AGV trolley, including the first mounting rack, first mounting rack inner top is fixedly installed with first motor, first motor drive shaft is fixed with first rotating shaft one end, the first rotating shaft other end is fixed through the first mounting rack and at the top of rotating plate, rotating plate bottom is fixed with first decoupling rod one end, the first decoupling rod other end is fixedly installed with deflecting roller, rotating plate is fixed by bracket and route sensing device, bottom is fixedly installed with battery in first mounting rack, controller, it is connected at the top of first mounting rack with spring one end, the spring other end is connected with parcel shelf, first mounting rack side wall is fixedly installed with anticollision air cushion；Technical solution provided by the present invention, which can effectively overcome, does not have damping, buffering function present in the prior art, do not have anti-collision, and the more complicated defect of structure.
Description
Technical field
The present invention relates to intelligence to carry technical field more particularly to a kind of trailing type AGV trolley.
Background technique
With the development and the improvement of people's living standards of social economy, demand of the people to artificial intelligence is increasing,
Intelligent technology of carrying becomes the hot spot of society research, and AGV trolley, which refers to, magnetically or optically waits homing guidances device, Neng Gouyan equipped with electricity
Defined guide path traveling, has the transport vehicle of safeguard protection and various transfer functions, is not required to driver in industrial application
Carrier, with chargeable battery be its power resources；Its travelling route and behavior can be generally controlled by computer,
Or its travelling route is set up using electromagnetic path, electromagnetic path sticks on floor, and automatic guided vehicle then relies on electromagnetic path
Brought message is moved and is acted, but traditional AGV trolley does not have damping, buffering function, does not have anticollision function
Can, and structure is complex, and therefore, researching and developing a kind of trailing type AGV trolley is the key that solve the above problems.
It is 10065557 A of CN in Authorization Notice No., is disclosed in the patent of invention that authorized announcement date is 2019.07.30
A kind of no brake type AGV trolley, including vehicle frame, one group of lift drive wheel mechanism being symmetrically distributed on vehicle frame；The lifting
Formula drive wheel mechanism includes the driving lifting device for being connected to the vehicle frame and the synchronization for being connected to the lifting drive
Drive wheel apparatus；The liter that the driving lifting device includes the fixed frame for being connected to the vehicle frame, is set on the fixed frame
Drop driving motor, be connected to it is described lifting driving motor and upper end be provided with lifting briquetting lifting drive disk；The fixation
It is set to lifting axle bed on frame, lifting shaft is provided in the lifting axle bed, the lifting shaft top is connected with lifting and presents a theatrical performance as the last item on a programme, institute
State lifting present a theatrical performance as the last item on a programme on be provided with and the lifting indent block that matches of lifting briquetting.
But this no brake type AGV trolley does not have damping, buffering function, does not have anti-collision, and structure is more multiple
It is miscellaneous.
Summary of the invention
(1) the technical issues of solving
For disadvantages mentioned above present in the prior art, the present invention provides a kind of trailing type AGV trolleies, can be effective gram
It takes and does not have damping, buffering function present in the prior art, do not have anti-collision, and the more complicated defect of structure.
(2) technical solution
To achieve the goals above, the present invention is achieved by the following technical programs:
A kind of trailing type AGV trolley, including the first mounting rack, the first mounting rack inner top are fixedly installed with the first electricity
Machine, the first motor drive shaft are fixed with first rotating shaft one end, the first rotating shaft other end through the first mounting rack and with
Fixed at the top of rotating plate, the rotating plate bottom is fixed with first decoupling rod one end, and the first decoupling rod other end is fixedly installed with
Deflecting roller, the rotating plate are fixed by bracket and route sensing device, and bottom is fixedly installed with electric power storage in first mounting rack
Pond, controller are connected at the top of first mounting rack with spring one end, and the spring other end is connected with parcel shelf, and described the
One mounting rack side wall is fixedly installed with anticollision air cushion；
First mounting rack bottom is fixed with second decoupling rod one end, the second decoupling rod other end and the second installation
Frame is fixed, and the second mounting rack inner wall is fixed with bearing block, and the second mounting rack side wall is fixedly installed with third mounting rack,
The second motor is fixed on the third mounting rack, second motor driving shaft is fixed with second shaft one end, and described second
The shaft other end is connected through the second mounting rack and with bearing block, is fixedly installed with driving wheel in second shaft.
Preferably, the controller model STM32F103, the controller is by storage battery power supply.
Preferably, the first motor, the second motor, route sensing device are electrically connected with controller.
Preferably, the spring is uniformly distributed setting along parcel shelf bottom.
Preferably, there are two first decoupling rod is set, first decoupling rod is distributed about first rotating shaft bilateral symmetry
Setting.
Preferably, there are six the anticollision air cushion is set, the anticollision air cushion triplets are about the first mounting rack left side
Right symmetrical setting.
(3) beneficial effect
Compared with prior art, the present invention provides a kind of trailing type AGV trolleies, the beneficial effects are as follows: controller
Control first motor drives first rotating shaft to drive rotating plate to rotate, and carries out the adjusting in direction, and the second motor drives the second shaft
It to driving driving wheel to rotate, is driven, route sensing device carries out identification to the route sign on ground and by identification
Information is transmitted to controller, and controller carries out the automatic of control completion trolley to first motor 2, the second motor and follows carrying；First
It is connected at the top of mounting rack with spring one end, the spring other end is connected with parcel shelf, so that the object on parcel shelf is slow with damping
Effect is rushed, the first decoupling rod and the second decoupling rod of the first mounting rack bottom further increase the damping effect of trolley, and first
Mounting rack side wall is fixedly installed with anticollision air cushion, so that trolley avoids hitting and damaging, so that trailing type AGV is small
Vehicle has the function of damping, buffering, has anti-collision, and structure is simple, easy to use.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention for those of ordinary skill in the art without creative efforts, can be with
It obtains other drawings based on these drawings.
Fig. 1 is overall structure diagram of the invention；
Fig. 2 is the right side structural representation of Fig. 1 of the present invention；
Fig. 3 is the left view structural representation of Fig. 1 of the present invention；
In figure:
1, the first mounting rack；2, first motor；3, first rotating shaft；4, rotating plate；5, the first decoupling rod；6, deflecting roller；7, it props up
Frame；8, route sensing device；9, battery；10, controller；11, spring；12, parcel shelf；13, anticollision air cushion；14, second
Decoupling rod；15, the second mounting rack；16, bearing block；17, third mounting rack；18, the second motor；19, the second shaft；20, it drives
Wheel.
Specific embodiment
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is
A part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art
Every other embodiment obtained without creative efforts, shall fall within the protection scope of the present invention.
A kind of trailing type AGV trolley, as shown in Figure 1 to Figure 3, including the first mounting rack 1,1 inner top of the first mounting rack are solid
Dingan County is equipped with first motor 2, and 2 drive shaft of first motor is fixed with 3 one end of first rotating shaft, and 3 other end of first rotating shaft runs through first
Mounting rack 1 is simultaneously fixed at the top of rotating plate 4, and 4 bottom of rotating plate is fixed with 5 one end of the first decoupling rod, and 5 other end of the first decoupling rod is fixed
Deflecting roller 6 is installed, rotating plate 4 is fixed by bracket 7 and route sensing device 8, and bottom is fixedly installed with storage in the first mounting rack 1
Battery 9, controller 10,1 top of the first mounting rack are connected with 11 one end of spring, and 11 other end of spring is connected with parcel shelf 12, the
One mounting rack, 1 side wall is fixedly installed with anticollision air cushion 13；
First mounting rack, 1 bottom is fixed with 14 one end of the second decoupling rod, 14 other end of the second decoupling rod and the second mounting rack
15 is fixed, and 15 inner wall of the second mounting rack is fixed with bearing block 16, and 15 side wall of the second mounting rack is fixedly installed with third mounting rack 17,
The second motor 18 is fixed on third mounting rack 17,18 drive shaft of the second motor is fixed with 19 one end of the second shaft, the second shaft
19 other ends are connected through the second mounting rack 15 and with bearing block 16, are fixedly installed with driving wheel 20 in the second shaft 19.
Specifically, 10 model STM32F103 of controller, controller 10 are powered by battery 9；The 2, second electricity of first motor
Machine 18, route sensing device 8 are electrically connected with controller 10；Spring 11 is uniformly distributed setting along 12 bottom of parcel shelf；First
There are two decoupling rod 5 is set, the first decoupling rod 5 is symmetrically distributed setting about first rotating shaft 3；Anticollision air cushion 13 is equipped with six
A, 13 triplets of anticollision air cushion are symmetrically distributed setting about the first mounting rack 1.
It drives first rotating shaft 3 to drive rotating plate 4 to rotate in use, controller 10 controls first motor 2, carries out direction
It adjusts, the second motor 18 drives the second shaft 19 to drive driving wheel 20 to rotate, and is driven, route sensing device 8 is over the ground
Route sign on face identify and the information of identification is transmitted to controller 10, and controller 10 is to first motor 2, the second motor
18, which carry out the automatic of control completion trolley, follows carrying；First mounting rack, 1 top is connected with 11 one end of spring, 11 other end of spring
It is connected with parcel shelf 12, so that the object on parcel shelf 12 has damping, buffering effect, the first damping of 1 bottom of the first mounting rack
Bar 5 and the second decoupling rod 14 further increase the damping effect of trolley, and 1 side wall of the first mounting rack is fixedly installed with anticollision gas
Pad 13, so that trailing type AGV trolley has the function of damping, buffering, has anti-so that trolley avoids hitting and damaging
Function is collided, and structure is simple, it is easy to use.
Present invention has disclosed the model of controller 10, the internal structure for the electrical component being related in the application and draw
Foot function is the common knowledge of those skilled in the art, and those skilled in the art have the ability to establish between above-mentioned electrical component
Circuit connecting relation.
The above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations；Although with reference to the foregoing embodiments
Invention is explained in detail, those skilled in the art should understand that；It still can be to aforementioned each implementation
Technical solution documented by example is modified or equivalent replacement of some of the technical features；And these modification or
Replacement, can't be such that the essence of corresponding technical solution departs from the spirit and scope of the technical scheme of various embodiments of the present invention.
Claims (6)
1. a kind of trailing type AGV trolley, it is characterised in that: including the first mounting rack (1), the first mounting rack (1) inner top
It is fixedly installed with first motor (2), first motor (2) drive shaft is fixed with first rotating shaft (3) one end, the first rotating shaft
(3) other end is fixed through the first mounting rack (1) and at the top of rotating plate (4), rotating plate (4) bottom and the first decoupling rod (5)
One end is fixed, and the first decoupling rod (5) other end is fixedly installed with deflecting roller (6), the rotating plate (4) by bracket (7) with
Route sensing device (8) is fixed, and the interior bottom of first mounting rack (1) is fixedly installed with battery (9), controller (10), institute
It states and is connected at the top of the first mounting rack (1) with spring (11) one end, spring (11) other end is connected with parcel shelf (12), described
First mounting rack (1) side wall is fixedly installed with anticollision air cushion (13)；
First mounting rack (1) bottom is fixed with the second decoupling rod (14) one end, the second decoupling rod (14) other end with
Second mounting rack (15) is fixed, and the second mounting rack (15) inner wall is fixed with bearing block (16), second mounting rack (15)
Side wall is fixedly installed with third mounting rack (17), is fixed with the second motor (18) on the third mounting rack (17), described second
Motor (18) drive shaft is fixed with the second shaft (19) one end, and the second shaft (19) other end runs through the second mounting rack (15)
And be connected with bearing block (16), driving wheel (20) are fixedly installed on second shaft (19).
2. trailing type AGV trolley according to claim 1, it is characterised in that: controller (10) model
STM32F103, the controller (10) are powered by battery (9).
3. trailing type AGV trolley according to claim 1, it is characterised in that: the first motor (2), the second motor
(18), route sensing device (8) is electrically connected with controller (10).
4. trailing type AGV trolley according to claim 1, it is characterised in that: the spring (11) is along parcel shelf (12) bottom
Portion is uniformly distributed setting.
5. trailing type AGV trolley according to claim 1, it is characterised in that: there are two first decoupling rod (5) sets,
First decoupling rod (5) is about first rotating shaft (3) bilateral symmetry distribution setting.
6. trailing type AGV trolley according to claim 1, it is characterised in that: there are six the anticollision air cushion (13) sets,
Anticollision air cushion (13) triplets are about the first mounting rack (1) bilateral symmetry distribution setting.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910769282.4A CN110435787A (en) | 2019-08-20 | 2019-08-20 | A kind of trailing type AGV trolley |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910769282.4A CN110435787A (en) | 2019-08-20 | 2019-08-20 | A kind of trailing type AGV trolley |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110435787A true CN110435787A (en) | 2019-11-12 |
Family
ID=68436609
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910769282.4A Pending CN110435787A (en) | 2019-08-20 | 2019-08-20 | A kind of trailing type AGV trolley |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110435787A (en) |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2016009284A1 (en) * | 2014-07-18 | 2016-01-21 | Paola Ferrari | An automated guided vehicle for managing a package |
| CN205098267U (en) * | 2015-11-03 | 2016-03-23 | 武汉慧杰智能自动化有限公司 | Shock attenuation walking steering mechanism |
| CN106274325A (en) * | 2016-08-24 | 2017-01-04 | 德马科起重机械有限公司 | A kind of damping type carriage walking device |
| CN207809572U (en) * | 2017-12-28 | 2018-09-04 | 北京京东尚科信息技术有限公司 | A kind of damping device, driving device and automatic guide vehicle |
| CN109367651A (en) * | 2018-12-11 | 2019-02-22 | 无锡百禾工业机器人有限公司 | A kind of AGV trolley |
| CN208663867U (en) * | 2018-05-25 | 2019-03-29 | 和县隆盛精密机械有限公司 | A kind of auxiliary protection device of industrial robot |
| CN109573889A (en) * | 2018-11-30 | 2019-04-05 | 苏州兄友智能科技有限公司 | A kind of AGV trolley being readily transported |
| WO2019088317A1 (en) * | 2017-11-01 | 2019-05-09 | 주식회사 로탈 | Automatic guided vehicle capable of sequentially avoiding obstacles |
-
2019
- 2019-08-20 CN CN201910769282.4A patent/CN110435787A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2016009284A1 (en) * | 2014-07-18 | 2016-01-21 | Paola Ferrari | An automated guided vehicle for managing a package |
| CN205098267U (en) * | 2015-11-03 | 2016-03-23 | 武汉慧杰智能自动化有限公司 | Shock attenuation walking steering mechanism |
| CN106274325A (en) * | 2016-08-24 | 2017-01-04 | 德马科起重机械有限公司 | A kind of damping type carriage walking device |
| WO2019088317A1 (en) * | 2017-11-01 | 2019-05-09 | 주식회사 로탈 | Automatic guided vehicle capable of sequentially avoiding obstacles |
| CN207809572U (en) * | 2017-12-28 | 2018-09-04 | 北京京东尚科信息技术有限公司 | A kind of damping device, driving device and automatic guide vehicle |
| CN208663867U (en) * | 2018-05-25 | 2019-03-29 | 和县隆盛精密机械有限公司 | A kind of auxiliary protection device of industrial robot |
| CN109573889A (en) * | 2018-11-30 | 2019-04-05 | 苏州兄友智能科技有限公司 | A kind of AGV trolley being readily transported |
| CN109367651A (en) * | 2018-12-11 | 2019-02-22 | 无锡百禾工业机器人有限公司 | A kind of AGV trolley |
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| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20191112 |